/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "command.h"
#include "FOC.h"
#include "gui.h"
#include "stdio.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
///task attr
const osThreadAttr_t modeSelectTask_attributes = {
        .name = "ModeSelect",
        .stack_size = 128*4,
        .priority = (osPriority_t)osPriorityAboveNormal,
};
const osThreadAttr_t motorCtrlTask_attributes = {
        .name = "MotorCtrl",
        .stack_size = 128*4,
        .priority = (osPriority_t)osPriorityRealtime,     //motor control task is critical,priority should be zhe highest
};
const osThreadAttr_t ledTask_attributes = {
        .name = "LedTask",
        .stack_size = 128*4,
        .priority = (osPriority_t)osPriorityAboveNormal,
};
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
///task handle
TaskHandle_t modeSelectHandle = NULL;
TaskHandle_t ledTaskHandle = NULL;
TaskHandle_t motorCtrlHandle = NULL;
/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityIdle,
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
void modeSelectTask(void *argument);

void ledTwinkleTask(void *argument);

void motorCtrlTask(void *argument);

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  motorCtrlHandle = osThreadNew(motorCtrlTask,NULL,&motorCtrlTask_attributes);
  ledTaskHandle = osThreadNew(ledTwinkleTask,NULL,&ledTask_attributes);
  modeSelectHandle = osThreadNew(modeSelectTask,NULL,&modeSelectTask_attributes);
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for(;;)
  {
    commandAnl();
    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

void modeSelectTask(void *argument)
{
  uint8_t mode_old=0;
  portENTER_CRITICAL();
  gui_draw_mode_selection(mode);
  portEXIT_CRITICAL();
  for (;;) {
    if (mode != mode_old){
      gui_draw_mode_selection(mode);
      mode_old=mode;
    }
    osDelay(10);
  }
}

void motorCtrlTask(void *argument)
{
  const uint16_t msFrequency=1;
  uint32_t tick;
  tick=osKernelGetTickCount();
  for (;;) {
    BLDC_Ctrl(mode);
    tick+=msFrequency;
    osDelayUntil(tick);
  }
}

void ledTwinkleTask(void *argument){
  for (;;){
    HAL_GPIO_TogglePin(led_GPIO_Port,led_Pin);
    osDelay(100);
  }
}
/* USER CODE END Application */

